Isaac Compute Odometry Node

Holds values related to odometry, this node is not a replcement for the IMU sensor and the associated Read IMU node

Installation

To use this Node, you must enable omni.isaac.core_nodes in the Extension Manager.

Inputs

Name

Type

Description

Default

execIn

execution

The input execution port

chassisPrim

bundle

Usd prim reference to the articulation root or rigid body prim

Outputs

Name

Type

Description

Default

execOut

execution

The output execution port

position

vectord[3]

Position vector in meters

[0.0, 0.0, 0.0]

orientation

quatd[4]

Rotation as a quaternion (IJKR)

[0.0, 0.0, 0.0, 1.0]

linearVelocity

vectord[3]

Linear velocity vector in m/s

[0.0, 0.0, 0.0]

angularVelocity

vectord[3]

Angular velocity vector in rad/s

[0.0, 0.0, 0.0]

linearAcceleration

vectord[3]

Linear acceleration vector in m/s^2

[0.0, 0.0, 0.0]

angularAcceleration

vectord[3]

Angular acceleration vector in rad/s^2

[0.0, 0.0, 0.0]